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WO2017013451A4 - Emballage d'engrenage pour bras de robot - Google Patents

Emballage d'engrenage pour bras de robot Download PDF

Info

Publication number
WO2017013451A4
WO2017013451A4 PCT/GB2016/052262 GB2016052262W WO2017013451A4 WO 2017013451 A4 WO2017013451 A4 WO 2017013451A4 GB 2016052262 W GB2016052262 W GB 2016052262W WO 2017013451 A4 WO2017013451 A4 WO 2017013451A4
Authority
WO
WIPO (PCT)
Prior art keywords
robot arm
rotation axis
limb
torque sensor
ring
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/GB2016/052262
Other languages
English (en)
Other versions
WO2017013451A1 (fr
Inventor
Keith Marshall
Luke David Ronald Hares
Thomas Bates Jackson
Steven James Randle
Paul Christopher Roberts
Edward John MOTTRAM
Ricardo Michael Henderson DA SILVA
Gordon Thomas DEANE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cambridge Medical Robotics Ltd
Original Assignee
Cambridge Medical Robotics Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from GB1512960.4A external-priority patent/GB2540756B/en
Priority claimed from GB1512962.0A external-priority patent/GB2540757B/en
Priority claimed from GB1512963.8A external-priority patent/GB2540598B/en
Priority to CN201910252684.7A priority Critical patent/CN110170988B/zh
Priority to JP2018502792A priority patent/JP6997075B2/ja
Priority to US15/743,406 priority patent/US10926404B2/en
Priority to CN201680042744.7A priority patent/CN108260350B/zh
Priority to DK16744494.2T priority patent/DK3325223T3/da
Priority to EP19166337.6A priority patent/EP3524394B1/fr
Priority to EP22165256.3A priority patent/EP4039418A1/fr
Application filed by Cambridge Medical Robotics Ltd filed Critical Cambridge Medical Robotics Ltd
Priority to EP16744494.2A priority patent/EP3325223B1/fr
Publication of WO2017013451A1 publication Critical patent/WO2017013451A1/fr
Publication of WO2017013451A4 publication Critical patent/WO2017013451A4/fr
Anticipated expiration legal-status Critical
Priority to US17/153,155 priority patent/US11559882B2/en
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
    • G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
    • G01L3/108—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving resistance strain gauges
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/226—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to manipulators, e.g. the force due to gripping
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/001—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for conveying reciprocating or limited rotary motion
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/14—Arm movement, spatial
    • Y10S901/15—Jointed arm
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/19—Drive system for arm
    • Y10S901/23—Electric motor
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/19—Drive system for arm
    • Y10S901/25—Gearing
    • Y10S901/26—Gearing including bevel gear
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/27—Arm part
    • Y10S901/28—Joint
    • Y10S901/29—Wrist
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Sliding-Contact Bearings (AREA)
  • Transmission Devices (AREA)

Abstract

L'invention concerne un bras de robot comprenant un mécanisme d'articulation pour articuler un membre (310) du bras par rapport à un autre membre du bras (311) autour de deux axes de rotation non parallèles (20, 21), le mécanisme comprenant : un support intermédiaire (28) fixé à un premier des membres par une première articulation tournante ayant un premier axe de rotation et à un second des membres par une seconde articulation tournante ayant un second axe de rotation; un premier engrenage d'entraînement (33) disposé autour du premier axe de rotation et fixe par rapport au support, moyennant quoi une rotation du support par rapport au premier membre autour du premier axe de rotation peut être entraînée; un second engrenage d'entraînement (37) disposé autour du second axe de rotation et fixe par rapport au second des membres, moyennant quoi une rotation du second des membres autour du second axe de rotation par rapport au support peut être entraînée; le premier et/ou le second engrenage d'entraînement étant un secteur denté.
PCT/GB2016/052262 2015-07-22 2016-07-22 Emballage d'engrenage pour bras de robot Ceased WO2017013451A1 (fr)

Priority Applications (9)

Application Number Priority Date Filing Date Title
EP22165256.3A EP4039418A1 (fr) 2015-07-22 2016-07-22 Conditionnement d'engrenage pour bras de robot
JP2018502792A JP6997075B2 (ja) 2015-07-22 2016-07-22 ロボットアーム
EP16744494.2A EP3325223B1 (fr) 2015-07-22 2016-07-22 Emballage d'engrenage pour bras de robot
CN201910252684.7A CN110170988B (zh) 2015-07-22 2016-07-22 转矩传感器
US15/743,406 US10926404B2 (en) 2015-07-22 2016-07-22 Gear packaging for robot arms
CN201680042744.7A CN108260350B (zh) 2015-07-22 2016-07-22 用于机器人手臂的齿轮封装
DK16744494.2T DK3325223T3 (en) 2015-07-22 2016-07-22 Tandhjulspakke til robotarme
EP19166337.6A EP3524394B1 (fr) 2015-07-22 2016-07-22 Capteurs de couple
US17/153,155 US11559882B2 (en) 2015-07-22 2021-01-20 Torque sensor

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
GB1512960.4 2015-07-22
GB1512962.0 2015-07-22
GB1512963.8 2015-07-22
GB1512960.4A GB2540756B (en) 2015-07-22 2015-07-22 Gear packaging for robot arms
GB1512963.8A GB2540598B (en) 2015-07-22 2015-07-22 Position sensors
GB1512962.0A GB2540757B (en) 2015-07-22 2015-07-22 Torque sensors

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US15/743,406 A-371-Of-International US10926404B2 (en) 2015-07-22 2016-07-22 Gear packaging for robot arms
US17/153,155 Continuation US11559882B2 (en) 2015-07-22 2021-01-20 Torque sensor

Publications (2)

Publication Number Publication Date
WO2017013451A1 WO2017013451A1 (fr) 2017-01-26
WO2017013451A4 true WO2017013451A4 (fr) 2017-03-09

Family

ID=56550913

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB2016/052262 Ceased WO2017013451A1 (fr) 2015-07-22 2016-07-22 Emballage d'engrenage pour bras de robot

Country Status (6)

Country Link
US (2) US10926404B2 (fr)
EP (3) EP3325223B1 (fr)
JP (2) JP6997075B2 (fr)
CN (2) CN108260350B (fr)
DK (1) DK3325223T3 (fr)
WO (1) WO2017013451A1 (fr)

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